/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stm32f1xx_hal_def.h"
#define STM32_HAL_LEGACY
#include "stm32_hal_legacy.h"


/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
MOTOR MOTORLF;
MOTOR MOTORRF;
MOTOR MOTORLB;
MOTOR MOTORRB;

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_TIM2_Init();
  MX_USART1_UART_Init();
  MX_TIM4_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Call init function for freertos objects (in freertos.c) */
  MX_FREERTOS_Init();
  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */





void MOTO_INIT(void)
{
	MOTORLF.GPIOX=GPIOA;
	MOTORLF.PIN1 =GPIO_PIN_2;
	MOTORLF.PIN2 =GPIO_PIN_3;
	
	MOTORRF.GPIOX=GPIOA;
	MOTORRF.PIN1 =GPIO_PIN_4;
	MOTORRF.PIN2 =GPIO_PIN_5;
	
	MOTORLB.GPIOX=GPIOA;
	MOTORLB.PIN1 =GPIO_PIN_6;
	MOTORLB.PIN2 =GPIO_PIN_7;
	
	MOTORRB.GPIOX=GPIOB;
	MOTORRB.PIN1 =GPIO_PIN_0;
	MOTORRB.PIN2 =GPIO_PIN_1;
}


void MOTOR_CONTORL(MOTOR MOTORX,char state)
{
	switch(state){
		case 'G':
		  HAL_GPIO_WritePin(MOTORX.GPIOX ,MOTORX.PIN1,0);
	    HAL_GPIO_WritePin(MOTORX.GPIOX ,MOTORX.PIN2,1);
			break ;
		
		case 'B':
		  HAL_GPIO_WritePin(MOTORX.GPIOX ,MOTORX.PIN1,1);
	    HAL_GPIO_WritePin(MOTORX.GPIOX ,MOTORX.PIN2,0);
			break ;
			
		case 'S':
		  HAL_GPIO_WritePin(MOTORX.GPIOX ,MOTORX.PIN1,0);
	    HAL_GPIO_WritePin(MOTORX.GPIOX ,MOTORX.PIN2,0);
			break ;	
	}
}

void MOTOR_PWM(int16_t pwm)
{
	__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, pwm);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, pwm);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3, pwm);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4, pwm);

}

enum RUN{
Run,Back,Left,Right,RoundLeft,RoundRight,Stop
};

DRIVE Drive;

void MOTOR_RUN( DRIVE drive )
{
	switch(drive.STA ){
		case Run:
			MOTOR_CONTORL(MOTORLF,'G');
			MOTOR_CONTORL(MOTORRF,'G');
			MOTOR_CONTORL(MOTORLB,'G');
			MOTOR_CONTORL(MOTORRB,'G');
			break;
		
		case Back:
			MOTOR_CONTORL(MOTORLF,'B');
			MOTOR_CONTORL(MOTORRF,'B');
			MOTOR_CONTORL(MOTORLB,'B');
			MOTOR_CONTORL(MOTORRB,'B');
		  break;
		
		case Left:
			MOTOR_CONTORL(MOTORLF,'B');
			MOTOR_CONTORL(MOTORRF,'G');
			MOTOR_CONTORL(MOTORLB,'G');
			MOTOR_CONTORL(MOTORRB,'B');
			break;
		
		case Right:
			MOTOR_CONTORL(MOTORLF,'G');
			MOTOR_CONTORL(MOTORRF,'B');
			MOTOR_CONTORL(MOTORLB,'B');
			MOTOR_CONTORL(MOTORRB,'G');
		  break;
		
		case RoundLeft:
			MOTOR_CONTORL(MOTORLF,'B');
			MOTOR_CONTORL(MOTORRF,'G');
			MOTOR_CONTORL(MOTORLB,'B');
			MOTOR_CONTORL(MOTORRB,'G');
		  break;
		
		case RoundRight:
			MOTOR_CONTORL(MOTORLF,'G');
			MOTOR_CONTORL(MOTORRF,'B');
			MOTOR_CONTORL(MOTORLB,'G');
			MOTOR_CONTORL(MOTORRB,'B');
		  break;
		
		case Stop:
			MOTOR_CONTORL(MOTORLF,'S');
			MOTOR_CONTORL(MOTORRF,'S');
			MOTOR_CONTORL(MOTORLB,'S');
			MOTOR_CONTORL(MOTORRB,'S');
		  break;
		}

}
/* USER CODE END 4 */

 /**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM1 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */
//	if (htim->Instance == htim4.Instance)
//		{
//			Tim4_count++;
//		}
  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM1) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
